Subspace Projection-Based Collision Detection for Physical Interaction Tasks of Collaborative Robots

Lee, Sang Duck; Ahn, Kuk Hyun; Song, Jae-Bok

doi:10.1007/s12541-019-00130-z

Cited by 9 publications

(4 citation statements)

References 18 publications

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“…Furthermore, the second one is based on a subspace projection of the robot joints and links. Thus, consider the effect of the load during a collision [75]. Another presented solution is based on total energy and generalized momentum to detect and safely react after a collision using only proprioceptive sensors [53].…”

Section: ) Contact Managementmentioning

confidence: 99%

Human-Robot Interaction Review: Challenges and Solutions for Modern Industrial Environments

et al. 2021

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The demand for collaborative robots is growing in industrial environments due to their versatility and low prices. Thus, more collaborative solutions are emerging for industrial scenarios. However, implementing scenarios where robots work autonomously while synchronizing their operations in a safe industrial environment with shop-floor workers is not easy. To fill the gap existing in the safe implementation of industrial collaborative scenarios, this manuscript presents a review based on five identified challenges that gathers the primary vital aspects to bear in mind while developing applications for them. Thus, a four-level classification is proposed, which collects the identified challenges and the previous developments in the field of human-robot interaction. The five identified challenges pretends to be the missing enabling key for implementing industrial collaborative scenarios in modern industrial plants. Lastly, a discussion and conclusion are exposed to analyze the degree of development in the field and its potential growth.

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Section: ) Contact Managementmentioning

confidence: 99%

Human-Robot Interaction Review: Challenges and Solutions for Modern Industrial Environments

et al. 2021

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“…Among the above methods, installing the force/torque sensor is the most popular method to improve the safety of the robot. It is possible to realize human-machine collaboration by using force perception technology, [3][4][5][6] collaborative robot collision detection technology, [7][8][9] robot virtual force sensor and flexible joint technology, 10,11 collaborative robot torque control, and impedance control technology. [12][13][14]…”

Section: Collaborative Robotmentioning

confidence: 99%

Force sensitivity analysis and scale design of Stewart parallel manipulator

Wang

Tang

Xiang

et al. 2021

Advances in Mechanical Engineering

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There are many indices for evaluating the operational performance of parallel robots, but most of them start from kinematics and rarely pay special attention to the force transmission process. After studying the relationship and characteristics of the forward and reverse force transmission of the Stewart parallel manipulator under quasi-static conditions, three new indices are proposed in this paper, which are forward force sensitivity, reverse force sensitivity, and overall force sensitivity. Subsequently, the influences of six parameters on the overall force sensitivity index are analyzed. Furthermore, this paper propose three new structural optimization design schemes based on the three newly proposed indices. Finally, it is verified experimentally that the unit reverse force sensitivity of a single joint is consistent with the theory and the error between the theoretical and experimental values is obtained.

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“…During the process of robot operation, there will be collision between robot and other equipment in unstructured environment. Collision detection or collision contact avoidance during the collision has become a hot research topic at present (Yang et al , 2019; Gierlak and Szuster, 2017; Lee et al , 2019; Sim et al , 2017). Collision contact may increase the vibration and system in stability, especially considering the different contact modes and dynamic modelling (Heinzmann and Zelinsky, 2003; Schneider and Frank, 1996; Jung et al , 2018;) .…”

Section: Introductionmentioning

confidence: 99%

“…The adaptive control strategy and the realization of effective response to collision behavior are the ultimate goals (Lee et al , 2019; Pliego-Jiménez and Arteaga-Pérez, 2015). The impact of actual collisions should be to allow the robot to react quickly to restore to a safe and operational state (Haddadin et al , 2009; Makarov et al , 2014; Cao et al , 2019; Sharkawy and Aspragathos, 2016).…”

Section: Introductionmentioning

confidence: 99%

Collision detection and force control based on the impedance approach and dynamic modelling

Wang

Zhang

2019

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Purpose This paper aims to address the collision problem between robot and the external environment (including human) in an unstructured situation. A new collision detection and torque optimization control method is proposed. Design/methodology/approach Firstly, when the collision appears, a second-order Taylor observer is proposed to estimate the residual value. Secondly, the band-pass filter is used to reduce the high-frequency torque modeling dynamic uncertainty. With the estimate information and the torque value, a variable impedance control approach is then synthesized to guarantee that the collision is avoided or the collision will be terminated with different contact models and positions. However, in terms of adaptive linear force error, the variation of the thickness of the boundary layer is controlled by the new proximity function. Findings Finally, the experimental results show the better performance of the proposed control method, realizing the force control during the collision process. Originality/value Origin approach and origin experiment.

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Subspace Projection-Based Collision Detection for Physical Interaction Tasks of Collaborative Robots

Cited by 9 publications

References 18 publications

Human-Robot Interaction Review: Challenges and Solutions for Modern Industrial Environments

Human-Robot Interaction Review: Challenges and Solutions for Modern Industrial Environments

Force sensitivity analysis and scale design of Stewart parallel manipulator

Collision detection and force control based on the impedance approach and dynamic modelling

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